docs: def start(self):
          """ Start or restart (the :meth:`~pypot.primitive.primitive.Primitive.stop` method will automatically be called) the primitive. """
          if not self.robot._primitive_manager.running:
              raise RuntimeError('Cannot run a primitive when the sync is stopped!')
  
          StoppableThread.start(self)
          self.wait_to_start()
  
          logger.info("Primitive %s started.", self)